CN104136686A - Automatic cut-transition milling machine and method - Google Patents
Automatic cut-transition milling machine and method Download PDFInfo
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- CN104136686A CN104136686A CN201280070289.3A CN201280070289A CN104136686A CN 104136686 A CN104136686 A CN 104136686A CN 201280070289 A CN201280070289 A CN 201280070289A CN 104136686 A CN104136686 A CN 104136686A
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- milling machine
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/06—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road
- E01C23/08—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades
- E01C23/085—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades using power-driven tools, e.g. vibratory tools
- E01C23/088—Rotary tools, e.g. milling drums
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/004—Devices for guiding or controlling the machines along a predetermined path
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/06—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road
- E01C23/12—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for taking-up, tearing-up, or full-depth breaking-up paving, e.g. sett extractor
- E01C23/122—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for taking-up, tearing-up, or full-depth breaking-up paving, e.g. sett extractor with power-driven tools, e.g. oscillated hammer apparatus
- E01C23/127—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for taking-up, tearing-up, or full-depth breaking-up paving, e.g. sett extractor with power-driven tools, e.g. oscillated hammer apparatus rotary, e.g. rotary hammers
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Milling, Drilling, And Turning Of Wood (AREA)
- Road Repair (AREA)
- Milling Processes (AREA)
- Numerical Control (AREA)
Abstract
A milling machine (100) is provided including: a frame (102); a plurality of ground engaging units (114); a plurality of vertically adjustable legs (118), the plurality of vertically adjustable legs (118) comprising a front leg (118) and a rear leg (118); a rotatable mill (116) configured to mill (130) a surface (120); a user interface (138) configured to receive a milling grade depth and a cut-transition factor; a speed sensor (137) configured to provide a ground speed of the milling machine (100); a vertical position sensor; and a controller (132) coupled to the speed sensor (137), the vertical position sensor, and the user interface (138), the controller (132) configured to lower a height of the rotatable mill (116) to the milling grade depth by incrementally adjusting a length of at least one of the plurality of vertically adjustable legs (118) according to the cut-transition factor, the speed sensor (137), and the vertical position sensor.
Description
Technical field
Embodiments of the present invention relate to the machine for the processing of road surface, more specifically, relate to the road leveler for road surface operation.
Background technology
Also referred to as the road milling machine device of cold-smoothing complete machine, can be configured to use the rotatable flatter that is arranged on framework from bituminous surface, concrete or asphalt road or other surfaces remove, mixing or salvage material.Framework can be arranged on a plurality of crawler belts or wheel of road surface supporting and transportation machine.
Conventionally, cold-smoothing complete machine also can comprise near a plurality of lifting members of front and rear that are positioned at framework.Lifting member can regulate between extended position and retracted position, so that by raising or reducing the degree of depth and the shape that framework and rotatable flatter are controlled cutting.
Road surface is used conventionally after road is by the milling of milling machine.There is no milling and the not level and smooth transformation between milling surface, can for the vehicle along road operation, cause damage or discomfort.Tradition milling machinery requirement operator manual adjustments is horizontally disposed with, and machine is pushed ahead to form more smoothly and changed simultaneously.But this causes inconsistent transformation conventionally, and concentrate changes cut in from other tasks scatter operation person's notice.
On June 26th, 2008, disclosed U.S. open source literature US2008/0152428 A1 described a kind of method of road milling machine device and the measurement milling degree of depth.But it also has above-mentioned problem.
Summary of the invention
According to aspect disclosed herein, milling machine is provided and wishes cutting depth or control from wishing that the cutting that cutting depth carries out changes automatically to control to cut to be converted to for the method for milling.
According to the aspect of embodiment here, a kind of milling machine is disclosed.Milling machine comprises framework; A plurality of ground engagement unit; A plurality ofly can vertically regulate leg, a plurality of each that can vertically regulate leg are connected to framework by one in a plurality of ground engagement unit, and a plurality of legs that can vertically regulate comprise foreleg and back leg; Rotatable grinding tool, it can milling surface; User interface, it can receive the milling level degree of depth and cutting changes coefficient; Velocity sensor, it can provide the ground speed of milling machine; Vertical position sensor; And controller, it is connected to velocity sensor, vertical position sensor and user interface, and controller can change coefficient, velocity sensor and vertical position sensor according to cutting and a plurality ofly can vertically regulate at least one the length in leg to make the height of rotatable grinding tool be reduced to the milling level degree of depth by regulating gradually.
According to the aspect of embodiment here, a kind of method for milling is disclosed.The method comprises: receive the milling level degree of depth and cutting transformation coefficient; Monitor ground speed; And the current milling degree of depth that automatically regulates milling machine according to the milling level degree of depth, cutting transformation coefficient and ground speed.
Aspect according to another embodiment here, discloses a kind of method for milling.The method comprises: the receiving target milling level degree of depth and cutting change coefficient; According to cutting, change coefficient and produce transition distance; In the middle of producing indication, the milling degree of depth changes mapping with the cutting of horizontal level accordingly; Monitor ground speed; Base area face velocity produces present level position; And change mapping and the current milling level of the present level position adjustments degree of depth according to cutting.
Accompanying drawing explanation
Fig. 1 is according to the phantom drawing of the example machine of instruction of the present invention;
Fig. 2 is another phantom drawing of the example machine of Fig. 1;
Fig. 3 is according to the general illustration of the part of the illustrative embodiments of the machine of instruction of the present invention;
Fig. 4 illustrates according to the method disclosed herein example of level machine from the teeth outwards; And
Fig. 5 is the block diagram that the method for cutting surface disclosed herein is shown.
The specific embodiment
Here with reference to accompanying drawing, provide illustrative embodiments of the present invention.Here, identical Reference numeral indication same parts.
Machine can be formed at task place and carry out Job Operations.The example of machine can comprise cold-smoothing complete machine, speedway and non-vehicle on highway, building equipment and cubic metre of earth equipment.Although instruction of the present invention is not limited to the specific type of machine, example machine 100 (cold-smoothing complete machine) is shown in Fig. 1-3, and is described below to illustrate instruction of the present invention.
Example machine 100 (for example milling machine or cold-smoothing complete machine) can be configured to from bitumeniferous surface, concrete or asphalt road and other surfaces remove, mixing or salvage material.Cold-smoothing complete machine 100 can comprise framework 102, support apparatus 112, a plurality of ground engagement unit 114 and instrument 116 (for example rotatable grinding tool 116).Framework 102 can comprise front end 104, rear end 106, the first side 108 and the second side 110.
As shown in Figure 1, machine 100 can comprise a plurality of support apparatus 112.Some in a plurality of support apparatus (referring to " front support equipment " 112a here) can be close to front end 104 layouts of framework 102, and some (referring to " rear support equipment " 112b here) in a plurality of support apparatus can be close to rear end 106 layouts of cold-smoothing complete machine 100.As shown in Figure 1-2, there are two front support equipment 112a on the opposite side of the front end 104 that is arranged in framework 102 and be arranged in two rear support equipment 112b on the opposite side of rear end 106 of framework 102.
Support apparatus 112 can be formed at surperficial 120 upper support frameworks 102.Each support apparatus 112 can comprise leg 118.Leg position sensor 122 can be arranged on each leg 118, inner side or near.One or more controllers 132 (seeing Fig. 3) that each leg position sensor 122 can be cold-smoothing complete machine 100 provide including, but not limited to the information of the length L of leg 118 or the elongation of leg 118 or retraction amount.In one embodiment, the length L of leg can be determined with respect to elongation or the retraction amount of known leg length based on known leg length and leg 118 by controller 132.Also it is contemplated that other modes of determining leg length.Other sensors can be arranged on framework 102 other parameters with sensing machine 100.
In the embodiment shown in Fig. 1-2, there are two foreleg 118a, 118b and two back leg 118c, 118d.Two foreleg 118a, 118b can be arranged on the opposite side of front end 104 of framework 102.Two back leg 118c, 118d can be arranged on the opposite side of rear end 106 of framework 102.
Ground engagement unit 114 can be configured to carry out the function of transporting cold-smoothing complete machine 100 on surface 120.Other known traction devices that ground engagement unit 114 can comprise crawler belt, take turns and/or be applicable to use on mobile machine.At least one ground engagement unit 114 can drive (seeing Fig. 3) by machine driven unit 136, so as cold-smoothing complete machine 100 forward and motion backward.The example of driven unit 136 can comprise explosive motor or hydraulic motor.Further be susceptible to ground engagement unit 114 and can be connected to framework 102 by leg 118.
Leg 118 can vertically be regulated.Therefore, leg 118 can be extended (prolongation) to cause framework 102 to move upward with respect to the surface 120 of arranged cold planisher 100, and can retract (shortening) is to cause framework 102 to move downward with respect to surface 120.
In one embodiment, leg 118 can be post, and it comprises telescopic section (not shown), for example, be applicable to relative to each other inwardly (retraction) or the outwards overlapping cylindricality segmentation of (extension) slip.Inside and the outside slip of overlapping cylindricality segmentation can make framework 102 raise and reduce, and its motion can activate by for example hydraulic pressure.
Framework 102 also can comprise one or more structural bearing members, and it is applicable to the parts of supporting and/or protection cold-smoothing complete machine 100.Framework 102 can comprise the one or more side plates 124 that are arranged on framework 102 sidepieces.In the illustrative embodiments shown in Fig. 1-2, framework 102 comprises two side plates 124, and it can roughly move on vertical direction at raised position with between dipping respectively.First side 106 that is attached to framework 102 in a plurality of side plates 124, and another side plate 124 is attached to the second side 108 of framework 102.
Side plate 124 in the first side 108 of the framework 102 on Fig. 1 illustrates and dips.Fig. 2 illustrates another side plate 124 in the second side 110 of the framework on raised position.One or more side plate sensors 140 (for example vertical position sensor 140) can be arranged on each side plate 124.Each side plate sensor 140 can by the vertical position information of relevant side plate and/or side plate whether the information of contact surface 120 offer the controller 132 (a-b) of cold-smoothing complete machine 100.
Framework 102 also can comprise can be at raised position and between dipping on vertical direction roughly with respect to the template 126 of other componental movements of framework 102.Fig. 1 illustrates and is positioned at the template 126 dipping.Fig. 2 illustrates the template 126 that is positioned at raised position.
Instrument 116 can be bearing on framework 102 or inside.In the embodiment shown in Fig. 1, machine 100 also comprises conveyer 128.Instrument 116 can comprise rotatable flatter, for example rotatable drum 130 (for example cylinder or grinding tool).Cylinder 130 can comprise a plurality of interchangeable bits 131 that are installed on it, and can reduce with composition surface 120.When engaging, the rotatable and cutter head 131 of cylinder 130 can be from surface 120 cutting and removing materials.Removing materials can enter conveyer 128, and conveyer is transported to another vehicle (such as unshowned tipping lorry) etc. so that scene is left in transportation by removing materials.
Instrument 116 (cylinder 130 in illustrative embodiments) can be determined shape and the degree of depth of the cutting of carrying out in surface 120 with respect to height and the geometry on surface 120, and can affect from surface 120 quantity of material that remove.For shape and the degree of depth of the cutting in control surface, the level of cylinder 130 (grade) can be conditioned, make cylinder 130 can by extend or leg 118 vertical motions of retraction machine 100 away from, towards or enter surface 120.The slope of cylinder (and cutting of carrying out) also can regulate to the height that is different from the leg 118 on the opposite side of machine 100 by raising or reducing leg 118 in machine 100 1 sides.
Hydraulic system (not shown) can be configured to direct pressurized hydraulic fluid to cause the motion up or down of leg 118.Hydraulic system can comprise for supplied with pressurized hydraulic fluid optionally to the zones of different of hydraulic system and hydraulic cylinder to hydraulic pressure is converted to for activating the hydraulic circuit of the mechanical movement of leg 118.
As shown in Figure 3, the control of cold-smoothing complete machine 100 can be by level and 142 management of slope system.Level and slope system 142 can comprise one or more embeddings or integrated controller 132, database 134, operator interface therewith 138 (for example user interface 138), driven unit 136, velocity sensor 137, support apparatus 112, leg 118, leg position sensor 122 (or sensor 122, for example cutting depth sensor 122), ground engagement unit 114, side plate 124, side plate sensor 140 (or a plurality of sensor 140) and template 126.
Controller 132 can adopt one or more processors, microprocessor, microcontroller, electronic control module (ECM), electronic control unit (ECU) or for the form of any other appropriate device of the function of Electronic Control cold-smoothing complete machine 100.
The multiple operating condition that controller 132 can be configured to based on cold-smoothing complete machine 100 for example, operates according to algorithm (pre-defined algorithm) or instruction group, to control cold-smoothing complete machine 100.This algorithm or instruction group can be read in the machine carried memory of controller 132, or be programmed in advance on the storage medium or memory that can be accessed by controller 132 form of normally used any other suitable computer read/write memory medium in floppy disk, hard drives, optical medium, random access storage device (RAM), read-only storage (ROM) or this area (being called " database ") for example.
Controller 132 can electric connection or is connected to multiple miscellaneous part, system or the subsystem (not shown) of driven unit 136 etc. and cold-smoothing complete machine 100.Driven unit 136 can especially comprise motor or hydraulic motor.
Controller 132 can receive from sensor the data of the current operation parameter of relevant cold-smoothing complete machine 100.In response to this input, controller 132 can carry out multiplely determining, and transmission is corresponding to the output signal of this definite result or the action carried out corresponding to needs.Velocity sensor 137 can be connected to motor, and the data of for example measuring ground speed can be offered to controller 132.In response to the reception of average measurement ground speed, controller 132 can input to estimate with this distance of machine 100 operations.
Controller 132 can comprise for a plurality of inputting interfaces of the multiple switch from relevant to cold-smoothing complete machine 100 and sensor and other controllers reception information and command signal with for control signal being sent to the multiple actuator relevant with cold-smoothing complete machine 100 or a plurality of output interfaces of other controllers 132.Suitably the controller 132 of programming can be used for many additional similar or diverse functions known in the art.
Controller 132 can receive signal or data from operator interface therewith 138, leg position sensor 122, velocity sensor 137, side plate sensor 140, other controllers 132 etc.Illustrative embodiments as shown in Figure 3 can see, controller 132 is configured to receive signals from operator interface therewith 138.Controller can exchange signal or information with another machine controller 132.
In one embodiment, level and slope system 142 can receive and process the level (cutting depth) of wishing to operator, cutting slope, the concrete relevant data such as distance of cutting from operator interface therewith 138.Controller 132 also can be from each leg position sensor 122 receiving positions and/or length data.As shown, this data can be including, but not limited to the information of the length L of relevant leg 118 or the extension of leg 118 or retraction amount.Controller 132 also can receive data from one or more side plate sensors 140.This data can be including, but not limited to the vertical position of relevant side plate 124 and/or side plate 124 information of contact surface 120 whether.
Controller 132 can transfer signals to sensor or machine part, and receives data from sensor or machine part.For example, controller 132 can signal transmission or instruction, to increase or to reduce the length L of back leg 118c-d.
Fig. 4 illustrates according to the method disclosed herein example of level machine from the teeth outwards.Fig. 5 is the block diagram that the method for cutting surface disclosed herein is shown.
As shown in Figure 4, for the operating path 144 of back leg c-d, can comprise second surface 121, and can comprise the second point 148 on 1: 146 on second surface 121 and second surface 121.1: 146 (on second surface 121) can directly be close to the end of first surface 120.
According to the embodiment here, user interface 138 can receiving target level (for example level of second portion 152).User interface also can receive cutting and change coefficient.It can be distance (for example distance of first 150 or length) that cutting changes coefficient, or can be the slope (for example first 150 is with respect to the slope of first surface 120) that cutting changes.The length that the slope that cutting changes and cutting change derives on mathematics ground each other, and therefore controller 132 can be configured to receive any value for determining that cutting changes.
In process in being cut to first surface 120, leg 118 before and after 100 retractions of cold-smoothing complete machine, remains on parallel position with respect to first surface 120 by framework 102 and cylinder 130 simultaneously.The retraction of front and back leg is reduced in first surface 120 cutting element 116 activating.Point place calibration scratch at cylinder 130 (minimum point that comprises cylinder cutter head 131 or instrument 116) contact or scraping first surface 120.The framework 102 of cold-smoothing complete machine 100 should be parallel to surface 120 when calibration scratch.Here the term " scratch length " using with respect to leg 118 refers to this leg 118 in the length at scratch place.
At cylinder 130, activate, rotate and cut while contacting with the part on surface 120, material removes from this part of first surface 120 by cylinder 130.Material removes from this part of first surface 120 second surface 121 that forms the level that is positioned at the level that is different from first surface 120.In other words, this part that second surface 121 removes first surface 120 by instrument 116 forms.
For the illustration purpose here, first surface will be considered to have the plane surface of zero level.Absolute value is by for vertically darker or lower than the measured value of the surperficial level of first surface 120.In other words, have the second surface 121 of level of the following Liang Ge unit of level of first surface 120 will have the level of 2 units, rather than use the desired level of bearing 2 units of perspective relation of traditional four-quadrant x-y coordinate axes.Therefore, for example have, than another surface (first surface 120) and more will be considered to have the level larger than the surface that is positioned at the plane on it here in the surface (for example second surface 121) of dark (larger) vertical level (value).
In the process of this cutting, framework 102 can monitor by controller 132 with respect to the parallel position of first surface 120.In order to monitor parallel position, the first controller 132a can receive from relevant position sensor 122 data of the length L of relevant front and back leg 118a-d.If the length L of the front and back leg 118a-d in the same side of framework 102 (the first side 108 or the second side 110) is not substantially the same, level and slope system 142 can issue a signal to machine controller 132b to regulate foreleg 118a, 118b or back leg 118c, 118d, to keep framework 102 parallel with first surface 120.
After cutting at first, cold-smoothing complete machine 100 can move on first surface 120 on forward direction A.As shown in Figure 4, cut at first and cold-smoothing complete machine 100 travels forward on direction A.Cylinder 130 is rotated further, and the part that removes first surface 120 is to form second surface.Before and after initial, leg 118a-d travels forward on first surface 120 on direction A.But at some some places, back leg 118c-d will start to be reduced in cutting portion and start operation on second surface 121.If the length of back leg 118c-d is not regulated, framework 102 can not be roughly parallel with first surface 120.
Controller 132 is configured to determine the suitable extension that will carry out for the length of back leg 118c-d or retracts and regulates, to keep framework 102 with respect to first surface 120 almost parallels at back leg 118c-d when second surface 121 moves.
The first 150 of the operating path 144 on second surface 121 can have the slope of substantial linear, and can comprise 1: 146 of operating path 144.The second portion 152 of the operating path 144 on second surface 121 can comprise second point 148, and can be the shape of substantial linear, and is positioned at the plane of the plane that is roughly parallel to first surface 120.Simple and clear for what describe, initial surface will refer to the first surface 120 of the first order with zero.The second portion 152 of the operating path 144 on second surface 121 will have the second level, and the second level can be different from the first order.The first 150 of the operating path on second surface 121 by along with cutting depth from first surface 120 level be adjusted to gradually second surface 121 second portion 152 level and have change level.
In the embodiment shown in Fig. 4, second point 148 is the points on the operating path 144 on second surface 121, and the length L of each back leg 118c-d is roughly identical with scratch length herein.
Fig. 5 is the block diagram of the method 500 of explanation cutting surface (milling), as open here.The method can greater or less than shown in step number implement, order shown in being not limited to.
Milling method 500 comprises: receive that the milling level degree of depth and cutting change coefficient step 502, initialize leg height step 504, monitor ground speed step 506, detect cutting depth/vertical position step 508, detected slope step 510, optional adjusting foreleg step 512, regulate back leg step 514, optional reception manual override step 516 and optional manual adjustments leg step 518.
In the process of step 502, user's input receives from user interface 138.For example, can receive the milling level degree of depth and cutting transformation coefficient.As described in, it can be to change slope or transition distance that cutting changes coefficient.In other words, controller 132 can receive the final level of hope of second surfaces 121 and the hope distance (first 150 of second surface 121) that cold-smoothing complete machine 100 should move from operator interface therewith 138, so as to enter (or leaving) thus cutting portion reaches new level.
In the process of step 504, can regulate the initial height for front and back leg 118.Controller 132 can adopt following parameter to determine the suitable height of leg: the level of hope, be convenient to enter the range ability of (or leaving) cutting portion until realize the level of wishing, the geometric parameter (such as girth and the radius of cylinder) of instrument, the length of ground engagement unit, to back leg with respect to the position of ground engagement unit with arrange relevant size etc.Database 134 or other holders that controller 132 can be accessed from operator interface therewith 138 and controller 132 receive at least some parameters of calculating for operating path.
In step 506, monitor ground speed.Ground speed can be measured by ground speed sensor 137.Use, from average measurement ground speed and lapse of time of motor speed sensor 137, can be calculated the distance of back leg 118c-d operation, as known in the art.
In step 508, detect cutting depth.Cutting depth can be determined according to side plate sensor 140, sound transducer, slip and/or leg position sensor 122.
In (optionally) step 510, slope can be determined by the independent slope sensor from machine.Controller 132 can regulate according to the height of determining leg 118 for the slope that keeps grinding tool 130 to be parallel to surface 120.
In step 512 and 514, can regulate foreleg 118a-b and back leg 118c-d.According to the embodiment here, the milling degree of depth of rotatable drum 130 can regulate by the arbitrary of adjusting foreleg 118a-b and back leg 118c-d or both.
For example, when the milling degree of depth of rotatable drum 130 regulates via foreleg 118a-b, along with foreleg 118a-b operation forward on operating path 144, controller 132 is determined the variation of each foreleg 118a-b Len req L of per unit running time.Can use average measurement ground speed and lapse of time from motor speed sensor 137, calculate the distance of foreleg 118a-b operation, as known in the art.
Similarly, when the milling degree of depth of rotatable drum 130 regulates via back leg 118c-d, along with back leg 118c-d operation forward on operating path 144, controller 132 is determined the variation of each back leg 118c-d Len req L of per unit running time.Can use average measurement ground speed and lapse of time from motor speed sensor 137, calculate the distance of back leg 118c-d operation, as known in the art.
Controller 132 can produce cutting transformation mapping and be convenient to enter or leave cutting portion automatically to adapt to.The cutting that controller 132 can produce the middle milling degree of depth of indicating a plurality of horizontal ranges place of leaving starting position changes mapping.Controller 132 can change coefficient or change coefficient and milling level degree of depth generation transition distance according to cutting according to cutting.For example, if cutting changes coefficient, be to reduce distance, transition distance can equal cutting and change coefficient.If it is the desired slope that changes cutting that cutting changes coefficient, transition distance can calculate for how much from cutting depth and desired slope so.
Controller can then monitor the ground speed (ground speed for example monitoring in step 506) of milling machine 100, and can produce present level position by base area face velocity (for example using average measurement ground speed and lapse of time from motor speed sensor 137).Controller can then change mapping and the current milling level of the present level position adjustments degree of depth according to cutting.Controller can regulate the current milling level degree of depth by adjusting foreleg or back leg 118 according to cutting transformation mapping and present level position.
In addition, the vertical position (slope) that controller 132 can detect according to side plate sensor 140 optionally determines that the variation of the length L that leg 118 is required is so that for example, with respect to surface 120 (not milling surface 120) level machine 100.Therefore,, in step 512 and 514, foreleg 118a-b and/or back leg can regulate automatically so that with respect to surperficial 120 level machines 100.
In optional step 516, manual override can receive from user interface 138.In optional step 518, if manual override receives in step 516, controller can allow the manual adjustments of leg 118 so.
Controller 132 can receive or periodically receiving sensor output continuously.Therefore, controller 132 can continue to monitor ground speed (step 506), cutting depth or leg height (step 508), vertical position (step 510), and leg 118 (for example, until reach cutting transition distance or the degree of depth) before and after correspondingly regulating continuously for the duration of cutting transformation coefficient.
Industrial applicibility
The present invention is applicable to the unexpected variation that reduces or eliminate the height on the surface 120 occurring when the 100 beginning millings of milling machine are cut to definite degree of depth.According to the present invention, machine 100 is determined the milling degree of depth in distance or level for reducing gradually, and provides feedback transducer 122,137,140 to monitor and auxiliary adjustment.
Although illustrate for purposes of illustration and described some embodiments here, those skilled in the art will appreciate that calculate realize the multiple embodiment that substitutes widely and/or be equal to of identical object or application can replace shown in and described embodiment, and do not depart from scope of the present invention.Those of ordinary skills will readily appreciate that according to the embodiment of the present invention various ways is implemented very widely.The application is intended to cover any modification or the remodeling of embodiment described herein.Therefore, intention is only by claim and equivalent thereof, to limit according to the embodiment of the present invention.
Claims (10)
1. a milling machine (100), comprising:
Framework (102);
A plurality of ground engagement unit (114);
A plurality ofly can vertically regulate leg (118), a plurality of each that can vertically regulate leg (118) are connected to framework (102) by one in a plurality of ground engagement unit (114), and a plurality of legs (118) that can vertically regulate comprise foreleg (118) and back leg (118);
Rotatable grinding tool (116), it can milling (130) surface (120);
User interface (138), it can receive the milling level degree of depth and cutting changes coefficient;
Velocity sensor (137), it can provide the ground speed of milling machine (100);
Vertical position sensor; And
Controller (132), it is connected to velocity sensor (137), vertical position sensor and user interface (138), and controller (132) can change coefficient, velocity sensor (137) and vertical position sensor according to cutting and a plurality ofly can vertically regulate at least one the length in leg (118) to make the height of rotatable grinding tool (116) be reduced to the milling level degree of depth by regulating gradually.
2. milling machine according to claim 1 (100), also comprises a plurality of position sensors (122), and each of a plurality of position sensors (122) can provide a plurality of height of corresponding that can vertically regulate leg (118); And
Its middle controller (132) can also be aimed at respect to surface (120) keeping parallelism according to a plurality of position sensors (122) and range ability.
3. milling machine according to claim 1 (100), wherein, cutting changes coefficient and comprises and change a kind of in slope or transition distance.
4. milling machine according to claim 1 (100), wherein, controller (132) can also according to cutting change coefficient make rotatable grinding tool (116) leave surface (120) highly linear be reduced to the milling level degree of depth.
5. milling machine according to claim 1 (100), wherein, controller (132) can also regulate the length of foreleg (118) to regulate the height of rotatable grinding tool (116).
6. milling machine according to claim 1 (100), wherein, controller (132) can also regulate the length of back leg (118) to regulate the height of rotatable grinding tool (116).
7. milling machine according to claim 1 (100), wherein, controller (132) can also change coefficient and the milling level degree of depth according to cutting and produce and change mapping, wherein change mapping comprise in the middle of the milling level degree of depth and corresponding horizontal level.
8. milling machine according to claim 7 (100), wherein, the middle milling level degree of depth and corresponding horizontal level are by linear distribution, so that the height that makes rotatable grinding tool (116) leave surface (120) according to cutting transformation coefficient is reduced to the milling level degree of depth.
9. milling machine according to claim 1 (100), also comprise a plurality of position sensors (122), each of a plurality of position sensors (122) can provide a plurality of height of corresponding that can vertically regulate in leg (118), and its middle controller (132) can also:
Through a plurality of position sensors (122) corresponding, a plurality of height that can vertically regulate leg (118) of continuous monitoring milling machine (100);
Through vertical position sensor, continuous monitoring vertical position;
According to cutting, change coefficient, velocity sensor (137) and vertical position sensor, regulate gradually the length of foreleg (118) to regulate the height of rotatable grinding tool (116); And
According to the slope of the height of foreleg (118) and surface (120), regulate continuously the back leg (118) of milling machine (100).
10. milling machine according to claim 6 (100), wherein, controller (132) can also:
Receive manual override signal; And
According to manual override Signal Regulation back leg (118) or foreleg (118).
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US13/332,630 US8899689B2 (en) | 2011-12-21 | 2011-12-21 | Automatic cut-transition milling machine and method |
| US13/332,630 | 2011-12-21 | ||
| PCT/US2012/069983 WO2013096144A1 (en) | 2011-12-21 | 2012-12-17 | Automatic cut-transition milling machine and method |
Publications (2)
| Publication Number | Publication Date |
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| CN104136686A true CN104136686A (en) | 2014-11-05 |
| CN104136686B CN104136686B (en) | 2017-08-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201280070289.3A Active CN104136686B (en) | 2011-12-21 | 2012-12-17 | Automatic cutting changes milling machine and method |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US8899689B2 (en) |
| CN (1) | CN104136686B (en) |
| AU (1) | AU2012355530A1 (en) |
| DE (1) | DE112012005425T5 (en) |
| GB (1) | GB2515902B (en) |
| WO (1) | WO2013096144A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107414577A (en) * | 2017-08-23 | 2017-12-01 | 柳州福能机器人开发有限公司 | Industrial transport machine people |
| CN107538461A (en) * | 2017-08-23 | 2018-01-05 | 柳州福能机器人开发有限公司 | Adjustable for height industrial transport machine people |
| CN107585556A (en) * | 2017-08-23 | 2018-01-16 | 柳州福能机器人开发有限公司 | Anti-oscillating Plastic Drum transportation robot |
| CN107585557A (en) * | 2017-08-23 | 2018-01-16 | 柳州福能机器人开发有限公司 | Plastic Drum transportation robot |
| CN109423948B (en) * | 2017-08-30 | 2022-08-09 | 卡特彼勒路面机械公司 | Method and system for operating a milling machine |
| CN109423948A (en) * | 2017-08-30 | 2019-03-05 | 卡特彼勒路面机械公司 | For operating the method and system of milling machine |
| CN113227501A (en) * | 2018-12-28 | 2021-08-06 | 宝马格有限公司 | Method for height adjustment of a side plate of a ground milling machine and ground milling machine |
| CN113227501B (en) * | 2018-12-28 | 2023-05-02 | 宝马格有限公司 | Method for height adjustment of side plates of a floor milling machine and floor milling machine |
| CN111560827A (en) * | 2019-02-14 | 2020-08-21 | 卡特彼勒路面机械公司 | Construction machine travel control system and method using lift cylinder control |
| CN113389120A (en) * | 2020-03-12 | 2021-09-14 | 卡特彼勒路面机械公司 | Distance-based actuator velocity calibration system |
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| CN114108433A (en) * | 2020-08-25 | 2022-03-01 | 宝马格有限公司 | Method for controlling the height adjustment of a chassis of a ground milling machine and ground milling machine |
| CN114922036A (en) * | 2022-06-01 | 2022-08-19 | 山推工程机械股份有限公司 | Operation method and control system of milling machine and milling machine |
Also Published As
| Publication number | Publication date |
|---|---|
| US8899689B2 (en) | 2014-12-02 |
| WO2013096144A1 (en) | 2013-06-27 |
| DE112012005425T5 (en) | 2014-09-25 |
| US20130162003A1 (en) | 2013-06-27 |
| GB201409518D0 (en) | 2014-07-16 |
| AU2012355530A1 (en) | 2014-06-19 |
| GB2515902A (en) | 2015-01-07 |
| GB2515902B (en) | 2018-09-19 |
| CN104136686B (en) | 2017-08-04 |
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